摘要
围绕一种集火焰识别与定位、路线规划、自动巡逻、环境参数检测、险情预警等功能于一体的室内智能安防车设计,提出将测距法与地磁计相结合的路线规划导航方法,结合PID算法和椭圆拟合算法实现了小车自动巡逻时走直线与转向的精准控制。基于OpenCV库的Haar-Like特征训练分类器,实现对火焰及入室人员的智能识别,结合传感器采样信息实现对火焰位置的精准定位。系统由手机端、智能小车、网关、云平台组成。该设计解决了传统室内安防设备安装位置固定导致检测死角的问题,给未来的室内智能移动安防设计提供了一定的参考价值。
A design scheme of indoor intelligent security car is designed,which integrates the functions of flame recognition and location,route planning,automatic patrol,environmental parameter detection and danger warning.A route planning and navigation method combining the ranging method and the geomagnetic meter is proposed.The precise control of the straight line and steering when the car patrols automatically is realized by combining the PID algorithm and the ellipse fitting algorithm.The flame and entry personnel can be intelligently recognized on the basis of the feature training classifier Haar⁃Like of the library OpenCV.The flame position can be located accurately in combination with the sensor sampling information.The system consists of mobile phone,intelligent car,gateway and cloud platform.This design can eliminate the detection dead angle caused by the fixed installation position of the traditional indoor security equipment,and provide a certain reference value for the future indoor intelligent mobile security design.
作者
许嘉乐
张晴晖
吕红亮
李俊萩
XU Jiale;ZHANG Qinghui;Lü Hongliang;LI Junqiu(College of Big Data and Intelligent Engineering,Southwest Forestry University,Kunming 650224,China;School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)
出处
《现代电子技术》
2021年第19期173-177,共5页
Modern Electronics Technique
基金
云南省教育厅科学研究基金项目(2021J0153)。
